goby::middleware::SingleThreadApplication< Config, InterProcessPortal > Class Template Reference
Implements an Application for a two layer middleware setup ([ intervehicle [ interprocess ] ]) based around InterVehicleForwarder without any interthread communications layer. This class isn't used directly by user applications, for that use a specific implementation, e.g. zeromq::SingleThreadApplication. More...
#include <goby/middleware/application/single_thread.h>
Inheritance diagram for goby::middleware::SingleThreadApplication< Config, InterProcessPortal >:
Public Member Functions | |
| SingleThreadApplication (double loop_freq_hertz=0) | |
| Construct the application calling loop() at the given frequency (double overload) More... | |
| SingleThreadApplication (boost::units::quantity< boost::units::si::frequency > loop_freq) | |
| Construct the application calling loop() at the given frequency (boost::units overload) More... | |
| virtual | ~SingleThreadApplication () |
 Public Member Functions inherited from goby::middleware::Application< Config > | |
| Application () | |
| virtual | ~Application () |
| Public Member Functions inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessPortal<> > > | |
| Thread (const Config &cfg, InterVehicleForwarder< InterProcessPortal<> > *transporter, int index) | |
| Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency. More... | |
| Thread (const Config &cfg, InterVehicleForwarder< InterProcessPortal<> > *transporter, double loop_freq_hertz=0, int index=-1) | |
| Construct a thread with all possible metadata (using double to specify frequency in Hertz) More... | |
| Thread (const Config &cfg, InterVehicleForwarder< InterProcessPortal<> > *transporter, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1) | |
| Construct a thread with all possible metadata (using boost::units to specify frequency) More... | |
| virtual | ~Thread () |
| void | run (std::atomic< bool > &alive) |
| Run the thread until the boolean reference passed is set false. This call blocks, and should be run in a std::thread by the caller. More... | |
| int | index () const |
| std::type_index | type_index () |
| void | set_type_index (std::type_index type_i) |
| std::string | name () |
| void | set_name (const std::string &name) |
| int | uid () |
| void | set_uid (int uid) |
Protected Member Functions | |
| InterProcessPortal & | interprocess () |
| InterVehicleForwarder< InterProcessPortal<> > & | intervehicle () |
| virtual void | health (goby::middleware::protobuf::ThreadHealth &health) override |
| Called when HealthRequest is made by goby_coroner. More... | |
| virtual void | post_initialize () override |
| Assume all required subscriptions are done in the Constructor or in initialize(). If this isn't the case, this method can be overridden. More... | |
| Protected Member Functions inherited from goby::middleware::Application< Config > | |
| virtual void | pre_initialize () |
| Called just before initialize. More... | |
| virtual void | initialize () |
| Perform any initialize tasks that couldn't be done in the constructor. More... | |
| virtual void | pre_finalize () |
| Called just before finalize. More... | |
| virtual void | finalize () |
| Perform any final cleanup actions just before the destructor is called. More... | |
| virtual void | post_finalize () |
| Called just after finalize. More... | |
| void | quit (int return_value=0) |
| Requests a clean exit. More... | |
| const Config & | app_cfg () |
| Accesses configuration object passed at launch. More... | |
| const util::UTMGeodesy & | geodesy () |
| Accesses the geodetic conversion tool if lat_origin and lon_origin were provided. More... | |
| bool | has_geodesy () |
| Returns if the geodesy tool is configured with a datum. More... | |
| std::string | app_name () |
| void | configure_geodesy (goby::util::UTMGeodesy::LatLonPoint datum) |
| Protected Member Functions inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessPortal<> > > | |
| Thread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1) | |
| void | set_transporter (InterVehicleForwarder< InterProcessPortal<> > *transporter) |
| virtual void | loop () |
| double | loop_frequency_hertz () const |
| decltype(loop_frequency_) | loop_frequency () const |
| double | loop_max_frequency () const |
| void | run_once () |
| InterVehicleForwarder< InterProcessPortal<> > & | transporter () const |
| const Config & | cfg () const |
| virtual void | initialize () |
| virtual void | finalize () |
| void | thread_health (goby::middleware::protobuf::ThreadHealth &health) |
| void | thread_quit () |
| bool | alive () |
| Protected Member Functions inherited from goby::middleware::coroner::Application< Derived > | |
| void | subscribe_coroner () |
| Protected Member Functions inherited from goby::middleware::terminate::Application< SingleThreadApplication< Config, InterProcessPortal > > | |
| void | subscribe_terminate (bool do_quit=true) |
Friends | |
| class | coroner::Application< SingleThreadApplication< Config, InterProcessPortal > > |
| class | terminate::Application< SingleThreadApplication< Config, InterProcessPortal > > |
Additional Inherited Members | |
| Public Types inherited from goby::middleware::Application< Config > | |
| using | ConfigType = Config |
| Public Types inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessPortal<> > > | |
| using | Transporter = InterVehicleForwarder< InterProcessPortal<> > |
| Static Public Attributes inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessPortal<> > > | |
| static constexpr goby::middleware::Group | shutdown_group_ |
| static constexpr goby::middleware::Group | joinable_group_ |
Detailed Description
template<class Config, template< class=NullTransporter > class InterProcessPortal>
class goby::middleware::SingleThreadApplication< Config, InterProcessPortal >
Implements an Application for a two layer middleware setup ([ intervehicle [ interprocess ] ]) based around InterVehicleForwarder without any interthread communications layer. This class isn't used directly by user applications, for that use a specific implementation, e.g. zeromq::SingleThreadApplication.
- Template Parameters
-
Config Configuration type InterProcessPortal the interprocess portal type to use (e.g. zeromq::InterProcessPortal)
Definition at line 50 of file single_thread.h.
Constructor & Destructor Documentation
◆ SingleThreadApplication() [1/2]
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
inline |
Construct the application calling loop() at the given frequency (double overload)
- Parameters
-
loop_freq_hertz The frequency at which to attempt to call loop(), assuming the main thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
Definition at line 69 of file single_thread.h.
◆ SingleThreadApplication() [2/2]
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
inline |
Construct the application calling loop() at the given frequency (boost::units overload)
- Parameters
-
loop_freq The frequency at which to attempt to call loop(), assuming the main thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
Definition at line 77 of file single_thread.h.
◆ ~SingleThreadApplication()
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
inlinevirtual |
Definition at line 99 of file single_thread.h.
Member Function Documentation
◆ health()
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
inlineoverrideprotectedvirtual |
Called when HealthRequest is made by goby_coroner.
Override to implement thread specific health response
Reimplemented from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessPortal<> > >.
Definition at line 105 of file single_thread.h.
◆ interprocess()
template<class Config , template< class=NullTransporter > class InterProcessPortal>
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inlineprotected |
Definition at line 102 of file single_thread.h.
◆ intervehicle()
template<class Config , template< class=NullTransporter > class InterProcessPortal>
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inlineprotected |
Definition at line 103 of file single_thread.h.
◆ post_initialize()
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
inlineoverrideprotectedvirtual |
Assume all required subscriptions are done in the Constructor or in initialize(). If this isn't the case, this method can be overridden.
Reimplemented from goby::middleware::Application< Config >.
Definition at line 112 of file single_thread.h.
Friends And Related Function Documentation
◆ coroner::Application< SingleThreadApplication< Config, InterProcessPortal > >
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
friend |
Definition at line 62 of file single_thread.h.
◆ terminate::Application< SingleThreadApplication< Config, InterProcessPortal > >
template<class Config , template< class=NullTransporter > class InterProcessPortal>
|
friend |
Definition at line 63 of file single_thread.h.
The documentation for this class was generated from the following file:
- goby/middleware/application/single_thread.h
